This PR is a combination of most of the open PRs that I have from the past year or so. Some of those required merges to work, which I did in this branch since I was unsure when things would get merged.

I have been using these changes for several months, but would appreciate someone else taking a look to verify that there are no adverse effects.

If you find any issues please comment here.

Changes summary

Here's a summary of the changes from each PR:

https://github.com/heuristicus/spot_ros/pull/65 SDK, rviz, safety

This is the largest PR. It contains

An autonomy flag in the launch file which is set at driver start and can be used to forbid any autonomous commands from running. This includes sending trajectories, cmd_vel, and graph_nav stuff. It's an extra layer of safety.
allow_motion service which can be used to prevent the robot from making any motions. This includes standing/sitting/posing the body. Another safety measure
Includes more SDK access, specifically messages for swing height, obstacle params, and terrain params
Rviz improvements to display battery values, estop status, and allows modification of some parameters from rviz
Allows velocity limits on the robot to be set in the driver launch file

https://github.com/heuristicus/spot_ros/pull/70 feet, body posing

Adds information about terrain state from the foot state into the output ROS messages
Foot positions are available in the TF tree
Body posing which is independent of the motion params
A fix for the issue of trajectory commands sometimes randomly not working #54

https://github.com/heuristicus/spot_ros/pull/72 show errors when robot is disconnected

Adds a small monitor on the estop to print errors when the connection to the robot is lost
Fix an error message that comes up when the driver is stopped #69

https://github.com/heuristicus/spot_ros/pull/75 config file and loop rate

Can now set a driver config file different from the default
Allows the main loop frequency to be set in the config file
Attempt to simplify the structure of the main loop in the driver

https://github.com/heuristicus/spot_ros/pull/76 urdf fix

Adds a joint in the URDF to the actual position of the front and rear rails on the robot. The current values are incorrect

https://github.com/heuristicus/spot_ros/pull/78 startup improvements

Improves the startup experience. It should be more obvious the that the driver started successfully. Also, you can start the driver and it will keep trying to connect to the robot, rather than exiting, if the robot isn't fully booted

heuristicus / spot_ros

Consolidation of safety, rviz, urdf, SDK access, and usability improvements #87